diff --git a/esphome/components/sensor/filter.cpp b/esphome/components/sensor/filter.cpp
index 9a4275d57a..61059af64f 100644
--- a/esphome/components/sensor/filter.cpp
+++ b/esphome/components/sensor/filter.cpp
@@ -246,17 +246,15 @@ bool value_list_matches_any(Sensor *parent, float sensor_value, const Templatabl
   return false;
 }
 
-bool throttle_check_and_update(uint32_t &last_input, uint32_t min_time_between_inputs) {
+bool throttle_check_with_priority(uint32_t &last_input, uint32_t min_time_between_inputs, bool is_prioritized) {
   const uint32_t now = App.get_loop_component_start_time();
-  if (last_input == 0 || now - last_input >= min_time_between_inputs) {
+  if (last_input == 0 || now - last_input >= min_time_between_inputs || is_prioritized) {
     last_input = now;
     return true;
   }
   return false;
 }
 
-void throttle_update_timestamp(uint32_t &last_input) { last_input = App.get_loop_component_start_time(); }
-
 // ThrottleFilter
 ThrottleFilter::ThrottleFilter(uint32_t min_time_between_inputs) : min_time_between_inputs_(min_time_between_inputs) {}
 optional<float> ThrottleFilter::new_value(float value) {
diff --git a/esphome/components/sensor/filter.h b/esphome/components/sensor/filter.h
index 50c3e2cf71..1f2b721b76 100644
--- a/esphome/components/sensor/filter.h
+++ b/esphome/components/sensor/filter.h
@@ -378,12 +378,9 @@ class ThrottleFilter : public Filter {
   uint32_t min_time_between_inputs_;
 };
 
-/// Returns true if throttle time has expired or this is the first input.
-/// Implementation in filter.cpp (accesses App without circular include).
-bool throttle_check_and_update(uint32_t &last_input, uint32_t min_time_between_inputs);
-
-/// Update last_input timestamp to current loop time. Implementation in filter.cpp.
-void throttle_update_timestamp(uint32_t &last_input);
+/// Check throttle and optionally allow prioritized values through.
+/// Always updates last_input when returning true. Implementation in filter.cpp.
+bool throttle_check_with_priority(uint32_t &last_input, uint32_t min_time_between_inputs, bool is_prioritized);
 
 /// Same as 'throttle' but will immediately publish values contained in `value_to_prioritize`.
 template<size_t N> class ThrottleWithPriorityFilter : public ValueListFilter<N> {
@@ -393,9 +390,8 @@ template<size_t N> class ThrottleWithPriorityFilter : public ValueListFilter<N>
       : ValueListFilter<N>(prioritized_values), min_time_between_inputs_(min_time_between_inputs) {}
 
   optional<float> new_value(float value) override {
-    if (throttle_check_and_update(this->last_input_, this->min_time_between_inputs_) ||
-        this->value_matches_any_(value)) {
-      throttle_update_timestamp(this->last_input_);
+    if (throttle_check_with_priority(this->last_input_, this->min_time_between_inputs_,
+                                     this->value_matches_any_(value))) {
       return value;
     }
     return {};